CN213693516U - Multi-shaft synchronous controller and multi-motor synchronous control system - Google Patents

Abstract

The utility model discloses a multiaxis synchro controller, including nuclear core plate, with nuclear core plate fixed connection's peripheral hardware board and interface board and connecting piece, peripheral hardware inboard designs multiple function circuit, the interface board is provided with a plurality of external interfaces, the connecting piece sets up in nuclear core plate and interface board, and the junction of nuclear core plate and peripheral hardware board, the connecting piece includes first connecting piece, pass through the second connecting piece that the stitch is connected with first connecting piece, the lug that outwards extends from the lateral wall of first connecting piece, rotate the fixture block of being connected and with the lug adaptation with the second connecting piece, first connecting piece passes through the lug with the second connecting piece and realizes dismantling with the fixture block and be connected. Compared with the prior art, the utility model provides a many motor synchronous control system, control process and algorithm optimal distribution are reasonable, and scalability is strong and motor synchronous control performance is excellent. The utility model also provides a many motor synchronous control system.

Description

Multi-shaft synchronous controller and multi-motor synchronous control system

Technical Field

The utility model relates to a motor control technical field especially relates to a multiaxis synchronous control ware and many motor synchronous control system.

Background

With the increasing industrial level, the manufacturing industry has also developed a leap innovation, and the servo system as the core component of the robot is not necessarily developed toward high precision and multi-axis in the future. Meanwhile, when the servo system needs a larger driving power, the driving motor and the servo driver with the power matched with the servo system must be specially made, so that the cost of the system is increased, the motor with large output power is influenced by the manufacturing process and the performance of the motor, and the development of the servo driver with high power is limited by a semiconductor power device. With the increase of the demand of high-power driving systems and the improvement of the requirements on the universality and the reliability of the systems, the research on the task of jointly completing a single-shaft driving by a plurality of motors has more and more practical significance. A single-shaft system is driven by a plurality of motors with the same power together to share the torque, so that a low-cost solution is provided. In addition, with the development of the mechanical industry, more and more precise gantry control instruments have higher and higher requirements on the synchronous control precision of the servo system.

Therefore, it is necessary to provide a multi-axis synchronous controller and a multi-motor synchronous control system that are reasonable in control process and algorithm optimization distribution, strong in expandability, and excellent in motor synchronous control performance to solve the above problems.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a control process and algorithm optimal distribution are reasonable, and multiaxis synchronous controller and many motor synchronous control system that scalability is strong and motor synchronous control performance is excellent not enough to prior art exists.

In order to achieve the above purpose, the utility model provides a following technical scheme:

the utility model provides a multiaxis synchro controller, include nuclear core plate, with nuclear core plate fixed connection's peripheral hardware board and interface board and connecting piece, peripheral hardware is the design multiple function circuit, the interface board is provided with a plurality of external interfaces, the connecting piece set up in nuclear core plate with the interface board, and nuclear core plate with the junction of peripheral hardware board, the connecting piece include first connecting piece, with the second connecting piece that first connecting piece passes through the stitch and is connected, certainly the lateral wall of first connecting piece outwards extends the lug, with the second connecting piece rotate be connected and with the fixture block of lug adaptation, first connecting piece with the second connecting piece passes through the lug with the connection can be dismantled in the fixture block realization.

Preferably, the fixture block includes a body portion adapted to the protrusion, a rotating shaft disposed at one end of the body portion, and an extending portion extending from the body portion to an end away from the rotating shaft, and a gap is formed between the extending portion and the first connecting member.

Preferably, the number of connecting piece is four, two the connecting piece presss from both sides and locates nuclear core plate with between the interface board, two the connecting piece presss from both sides and locates nuclear core plate with between the peripheral hardware board.

A multi-motor synchronous control system comprises the multi-shaft synchronous controller, a servo driver connected with the multi-shaft synchronous controller, a servo motor connected with the servo driver and a position sensor connected with the servo driver, the multi-shaft synchronous controller further comprises an ARM chip arranged on an external board and used for being in communication connection with an upper computer and an FPGA chip arranged on the external board and in communication connection with the ARM chip, and the ARM chip comprises a chip body, a multi-task management module embedded in the chip body, an instruction control module, a communication module and a data processing module arranged on the periphery of the chip body.

Preferably, the ARM chip is communicated with an upper computer through an EtherCat bus interface, a CAN bus interface or an RS232 interface, and is communicated with the FPGA chip through an FSMC bus interface.

Preferably, the multi-axis synchronous controller further comprises a memory chip, and the ARM chip is in communication connection with the memory chip through an IIC bus.

Preferably, the memory chip is an EEPROM chip.

Preferably, the ARM chip further comprises a protection module embedded in the chip body, the data processing module is formed by combining an SRAM module and a FLASH module, the protection module is a watchdog module, and the multitask management module is a micro C/OS-II operating system.

Preferably, the FPGA chip includes a Sin-Cos encoder decoding module, an analog input module, an absolute encoder decoding module, 4 paths of 16-bit analog output modules, 2 paths of common analog output modules and a digital pulse input and output module, wherein the 4 paths of 16-bit analog output modules are used for outputting 4 paths of motor torque synchronous control signals, and the 2 paths of common analog output modules are combined with the former 4 paths of analog signal outputs to form 2-axis alternating current servo control signal outputs.

Preferably, the Sin-Cos encoder decoding module and the analog input module are integrally arranged and used for collecting current signals of each phase winding of the motor.

In summary, compared with the prior art, the utility model provides a multi-motor synchronous control system, through setting up communication connection between the ARM chip and the FPGA chip is in order to realize common control for the two function complementation, has greatly played ARM chip and FPGA chip's advantage separately, satisfies the high-speed, multiaxis servo system demand on the market, simultaneously, sets up have in the ARM chip embedded in the multitask management module of chip body, utilizes the characteristic of multitask management module, satisfies the management and the control to instruction control module, communication module and data processing module simultaneously; the strong data processing capacity of the ARM chip, rich peripheral equipment interfaces and the high main frequency, low power consumption and strong concurrent control capacity of the FPGA chip are fully utilized, so that the speed and the data processing capacity of the multi-motor synchronous control system are greatly improved.

Drawings

Fig. 1 is a schematic perspective view of a multi-axis synchronous controller provided by the present invention;

fig. 2 is a block diagram of a multi-motor synchronous control system provided by the present invention.

In the figure, 100, a multi-axis synchronous controller; 10. a core board; 20. a peripheral board; 30. an interface board; 40. a connecting member; 41. a first connecting member; 42. a second connecting member; 43. a bump; 44. a clamping block; 441. a body portion; 442. a rotating shaft; 443. an extension portion; 50. an ARM chip; 51. a chip body; 52. a multitask management module; 53. an instruction control module; 54. a communication module; 55. a data processing module; 56. a protection module; 60. an FPGA chip; 61. a Sin-Cos encoder decoding module; 62. an analog input module; 63. an absolute encoder decoding module; 64. 4-path 16-bit analog quantity output module; 65. 2-path common analog quantity output module; 66. a digital pulse quantity input and output module; 70. a memory chip; 1000. a multi-motor synchronous control system; 200. a servo driver; 300. a servo motor; 400. a position sensor.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings and examples. The following experimental examples and examples are intended to further illustrate but not limit the invention.

Referring to fig. 1, the present invention provides a multi-axis synchronous controller 1000, wherein the multi-axis synchronous controller 1000 includes a core board 10, an external board 20 and an interface board 30 fixedly connected to the core board 10, and a connecting member 40. A plurality of functional circuits are designed in the peripheral board 20, the interface board 30 is provided with a plurality of external interfaces, and the connecting member 40 is disposed at the connection between the core board 10 and the interface board 30 and the connection between the core board 10 and the peripheral board 20.

Specifically, the connecting member 40 includes a first connecting member 41, a second connecting member 42 connected to the first connecting member 41 through a pin, a protrusion 43 extending outward from a sidewall of the first connecting member 41, and a latch 44 rotatably connected to the second connecting member 42 and adapted to the protrusion 43, wherein the first connecting member 41 and the second connecting member 42 are detachably connected to the latch 44 through the protrusion 43.

The latch 44 includes a main body 441 fitted with the protrusion 43, a rotating shaft 442 disposed at one end of the main body 441, and an extending portion 443 extending from the main body 441 to an end far away from the rotating shaft, wherein a gap 101 is formed between the extending portion 443 and the first connecting member 41. By providing the gap 101, the user can conveniently unlock the protrusion 43 and the latch 44 through the extension 443, which is practical and convenient.

Preferably, in the present embodiment, the number of the connectors 40 is four, wherein two connectors 40 are interposed between the core board 10 and the interface board 30, and two connectors 40 are interposed between the core board 10 and the peripheral board 20. That is, the core board 10 and the interface board 30, and the core board 10 and the peripheral board 20 are detachably connected by two connecting members 40, so that the structure of the entire multi-axis synchronous controller 1000 is more stable.

Referring to fig. 2, the present invention provides a multi-motor synchronous control system 1000, wherein the multi-motor synchronous control system 1000 includes a multi-shaft synchronous controller 1000, a servo driver 200 connected to the multi-shaft synchronous controller 100, a servo motor 300 connected to the servo driver 200, and a position sensor 400 connected to the servo driver 200. The multi-axis synchronous controller 100 belongs to a control layer at the top layer of the system and is responsible for planning a motor motion path through a series of complex algorithms according to functions to be realized; the servo driver 200 belongs to a driving layer in the middle of the system and is responsible for converting a motion instruction into a corresponding electric signal to control the rotation of the motor; the servo motor 300 belongs to a bottom execution layer of the system and is responsible for driving the mechanical motion by the corresponding rotation action of the electric signal; the position sensor 400 is a feedback component responsible for feeding back position information to the servo driver 200.

The multi-axis synchronous controller 100 further comprises an ARM chip 50 in communication connection with an upper computer, an FPGA chip 60 in communication connection with the ARM chip 50, and a memory chip 70.

The ARM chip 50 is communicated with an upper computer through an EtherCat bus interface, a CAN bus interface or RS 232; communicate with the FPGA chip 60 through an FSMC bus interface; communicatively coupled to the memory chip 70 via an IIC bus.

Specifically, the ARM chip 50 includes a chip body 51, a multitask management module 52 embedded in the chip body 51, an instruction control module 53, a communication module 54, a data processing module 55 disposed at the periphery of the chip body 51, and a protection module 56 embedded in the chip body 51.

The ARM chip 50 is used as a main control device of the motion control panel, and is responsible for communicating with an upper computer, analyzing the EtherCat protocol, sending control commands and data transmitted by the analyzed upper computer to the FPGA chip 60, and reading feedback data of the FPGA chip 60. At the same time. The parameter information of the motion control board is stored in the memory chip 70 through the IIC bus, and the motion control board is configured while reading the parameters when the power is on.

Preferably, in this embodiment, the multitask management module 52 uses a μ C/OS-II operating system, and the instruction control module 53 and the communication module 54 are both written based on the μ C/OS-II operating system. The communication module 54 is used for communicating with an upper computer and communicating with the FPGA chip 60.

Specifically, in this embodiment, the data processing module 55 is formed by combining an SRAM module and a FLASH module, where the SRAM module and the FLASH module are disposed on the periphery of the chip body 51, so as to improve the data processing capability of the chip body 51.

Preferably, in this embodiment, the protection module 56 employs a watchdog module to reset the chip body 51 after entering into the dead cycle.

Meanwhile, according to the minimum system requirement of the chip body 51, the hardware circuit further includes a crystal oscillator, a configuration circuit, a JTAG debug interface, and the like.

The FPGA chip 60 comprises a Sin-Cos encoder decoding module 61, an analog input module 62, an absolute encoder decoding module 63, a 4-path 16-bit analog output module 64, a 2-path common analog output module 65 and a digital pulse input and output module 66. The 4-path 16-bit analog quantity output module 64 is used for outputting 4-path motor torque synchronous control signals, and the 2-path common analog quantity output module 65 is combined with the first 4-path analog signal outputs to form 2-axis alternating current servo control signal outputs.

Preferably, in the present embodiment, the Sin-Cos encoder decoding module 61 is integrated with the analog input module 62, and is used for collecting current signals of each phase winding of the motor. That is to say, the Sin-Cos encoder decoding module 61 also serves as an analog input module, wherein the Sin-Cos encoder decoding is to extract the angle information of the high-precision rotor rotation from the Sin-Cos signal output by the encoder through a software and hardware technology, the hardware part is responsible for amplifying, conditioning and converting the encoder output signal and is suitable for FPGA sampling and software processing, and the software part processes the signal output by the hardware part through a corresponding decoding algorithm and extracts the high-precision position information. Meanwhile, the Sin-Cos encoder decoding module 61 is also used as an analog input module and is mainly responsible for sampling current signals of each phase winding of the motor, so that the subsequent operation of the alternating current motor control algorithm module is facilitated.

The absolute encoder decoding module 63 is mainly responsible for receiving a commonly used absolute encoder signal with differential output, and the absolute encoder signal is used as a shaft position feedback signal of an alternating current motor vector control algorithm.

The digital pulse input/output module 66 is mainly used for processing safety signals and emergency stop signals for controlling the motor, including limit, brake, enable, fault signals and the like.

The memory chip 70 is an EEPROM chip.

The utility model provides an in many motor synchronous control system 100, through the ARM chip communicates with the host computer and receives the instruction that the host computer sent, then passes through the ARM chip carries out calculation, analysis, the execution of instruction, and then passes through FPGA chip 60 transmits for the driver to reach the purpose of control motor. The ARM chip 50 and the FPGA chip 60 are in communication connection to realize common control, so that the ARM chip 50 and the FPGA chip 60 are complementary in function, respective advantages of the ARM chip 50 and the FPGA chip 60 are greatly exerted, and the requirements of high-speed and multi-axis servo systems on the market are met.

Compared with the prior art, the utility model provides a many motors synchronous control system, through setting up communication connection between the ARM chip with the FPGA chip is in order to realize common control for the two function complementation, has greatly played ARM chip and FPGA chip advantage separately, satisfies the high-speed on the market, multiaxis's servo system demand, simultaneously, sets up have in the ARM chip embedded in the multitask management module of chip body, utilizes the characteristic of multitask management module, satisfies simultaneously to the instruction control module, communication module and the management and the control of data processing module; the strong data processing capacity of the ARM chip, rich peripheral equipment interfaces and the high main frequency, low power consumption and strong concurrent control capacity of the FPGA chip are fully utilized, so that the speed and the data processing capacity of the multi-motor synchronous control system are greatly improved.

It is above only the utility model discloses a preferred embodiment, the utility model discloses a scope of protection does not only confine above-mentioned embodiment, the all belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection. It should be noted that, for those skilled in the art, various improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should be construed as the scope of the present invention.

Claims (10)

1. The utility model provides a multiaxis synchro controller, its characterized in that, including nuclear core plate, with nuclear core plate fixed connection's peripheral hardware board and interface board and connecting piece, peripheral hardware inboard designs multiple function circuit, the interface board is provided with a plurality of external interfaces, the connecting piece set up in nuclear core plate with the interface board, and nuclear core plate with the junction of peripheral hardware board, the connecting piece include first connecting piece, with first connecting piece pass through the second connecting piece that the stitch is connected, certainly the lateral wall of first connecting piece outwards extends the lug, with the second connecting piece rotate be connected and with the fixture block of lug adaptation, first connecting piece with the second connecting piece passes through the lug with the fixture block is realized dismantling and is connected.

2. The multi-axis synchronous controller according to claim 1, wherein the latch comprises a body portion fitted to the protrusion, a rotating shaft provided at one end of the body portion, and an extending portion extending from the body portion to an end away from the rotating shaft, and a gap is formed between the extending portion and the first connecting member.

3. The multi-axis synchronous controller according to claim 2, wherein the number of the connecting members is four, two connecting members are interposed between the core board and the interface board, and two connecting members are interposed between the core board and the peripheral board.

4. A multi-motor synchronous control system, comprising the multi-shaft synchronous controller according to any one of claims 1 to 3, a servo driver connected to the multi-shaft synchronous controller, a servo motor connected to the servo driver, and a position sensor connected to the servo driver, wherein the multi-shaft synchronous controller further comprises an ARM chip disposed on the peripheral board and used for communicating with an upper computer, and an FPGA chip disposed on the peripheral board and communicating with the ARM chip, and the ARM chip comprises a chip body, a multi-task management module embedded in the chip body, an instruction control module, a communication module, and a data processing module disposed at the periphery of the chip body.

5. The multi-motor synchronous control system according to claim 4, wherein the ARM chip communicates with an upper computer through an EtherCat bus interface, a CAN bus interface or RS232 and communicates with the FPGA chip through an FSMC bus interface.

6. The multi-motor synchronous control system according to claim 5, wherein the multi-axis synchronous controller further comprises a memory chip, and the ARM chip is in communication connection with the memory chip through an IIC bus.

7. The multi-motor synchronous control system according to claim 6, wherein the memory chip is an EEPROM chip.

8. The multi-motor synchronous control system of claim 4, wherein the ARM chip further comprises a protection module embedded in the chip body, the data processing module is combined with a FLASH module by adopting an SRAM module, the protection module adopts a watchdog module, and the multitask management module adopts a μ C/OS-II operating system.

9. The multi-motor synchronous control system according to claim 4, wherein the FPGA chip comprises a Sin-Cos encoder decoding module, an analog input module, an absolute encoder decoding module, a 4-path 16-bit analog output module, a 2-path general analog output module and a digital pulse input and output module, wherein the 4-path 16-bit analog output module is used for outputting 4-path motor torque synchronous control signals, and the 2-path general analog output module and the first 4-path analog signal output are combined to form 2-axis alternating current servo control signal output.

10. The multi-motor synchronous control system according to claim 9, wherein the Sin-Cos encoder decoding module is integrated with the analog input module and used for collecting current signals of each phase winding of the motor.

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